No. Only the Probate Court may modify a custody or visitation order. If you want to change things, you need to go to the court which handled the divorce and file a petition for modification of the custody or visitation order. You will need to show that court that any change is in the child's best interest.
I agree with the first answer. It sounds like there really needs to be a change to the visitation schedule. The best way to do that is to file a modification. Keep in mind there are 2 types of custody, physical and legal, as well as non-costodual parent's visitation rights. You may want to speak to a lawyer to determine exactly what and how you want to modify your current arrangement.
Sign up to receive a 3-part series of useful information and advice about child custody law.